Adaptive walking of hexapod robots based on FCP gait control considering postural stabilization

摘要

This paper proposes incorporation of posture control into Follow-the-Contact-Point(FCP) gait control. The original FCP gait control does not incorporate posture control, the robot often overturns when walking in rough terrain. Therefore, posture control is implemented to improve the walking ability and stability in rough terrain. We verify that the walking ability in rough terrain and stability are improved in some environments using simulation.